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Handshake stabilization in microsurgery

Video from the Surgical Mechatronics Lab at the Carnegie Mellon University Robotics Institute. This video shows how CMU's "Micron" handheld tool improves microsurgery through active tremor cancellation for better control of a tool tip. Applications shown are in vitreo retinal surgery, handheld scanning for intraocular optical coherence tomography (OCT), and automated intraocular laser photocoagulation. The Micron tool incorporates a proof-of-concept hexapod system developed in collaboration with New Scale Technologies. Six piezoelectric SQUIGGLE micro motors are integrated with miniature bearing assemblies, motor mounts, flexures and spring preloads. Drive electronics integrated into the miniature handheld instrument dynamically adjust drive parameters to optimize performance of each motor under varying conditions including changing temperature and side loads. More information: New Scale Technologies: http://www.newscaletech.com/resources... Carnegie Mellon University: http://www.ri.cmu.edu/research_lab_gr...